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US 12,595,081 B2Granted
Positioning device, moving object, positioning method and storage medium
AssigneeCasio Computer Co., Ltd.
InventorNaotomo Miyamoto
Life of this patent
Estimating the term…
Abstract
A positioning device includes at least one processor. The at least one processor detects a light source and a target object different from the light source in an image captured by an imager. A moving object has the imager and moves in a space. The at least one processor derives a position of the moving object in the space based on positions of the light source and the target object in the image and known positions of the light source and the target object in the space.
Claims12
A positioning device comprising:
- at least one processor configured to:
- determine whether a condition that reduces a likelihood of detecting light of a light source is satisfied;
- in response to determining that the condition is satisfied, determine a number of one or more light sources detected in an image captured by an imager, wherein a moving object has the imager and moves in a space;
- determine a number of one or more target objects different from the one or more light sources detected in the image;
- select, based on the number of one or more light sources detected in the image, a set of position indicators from among the one or more light sources and the one or more target objects detected in the image to be used in deriving a position of the moving object in the space;
- derive the position of the moving object in the space based on in-image positions of the selected set of position indicators and known positions of the selected set of position indicators in the space;
- and
- control movement of the moving object based on the position derived.
5 more elements
A positioning method that is performed by a computer, comprising:
- determining whether a condition that reduces a likelihood of detecting light of a light source is satisfied;
- in response to determining that the condition is satisfied, determining a number of one or more light sources detected in an image captured by an imager, wherein a moving object has the imager and moves in a space;
- determining a number of one or more target objects different from the one or more light sources detected in the image;
- selecting, based on the number of one or more light sources detected in the image, a set of position indicators from among the one or more light sources and the one or more target objects detected in the image to be used in deriving a position of the moving object in the space;
- deriving the position of the moving object in the space based on in-image positions of the selected set of position indicators and known positions of the selected set of position indicators in the space;
- and
- controlling movement of the moving object based on the position derived.
4 more elements
A non-transitory computer-readable storage medium storing a program that causes a computer to:
- determine whether a condition that reduces a likelihood of detecting light of a light source is satisfied;
- in response to determining that the condition is satisfied, determine a number of one or more light sources detected in an image captured by an imager, wherein a moving object has the imager and moves in a space;
- determine a number of one or more target objects different from the one or more light sources detected in the image;
- select, based on the number of one or more light sources detected in the image, a set of position indicators from among the one or more light sources and the one or more target objects detected in the image to be used in deriving a position of the moving object in the space;
- derive the position of the moving object in the space based on in-image positions of the selected set of position indicators and known positions of the selected set of position indicators in the space;
- and
- control movement of the moving object based on the position derived.
4 more elements
Dependencies are inferred from the claim text.